한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제22권4호
  • /
  • Pages.97-105
  • /
  • 2008
  • /
  • 1225-0767(pISSN)
  • /
  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

심해용 무인 잠수정의 동역학 계수의 추정에 관한 연구

Estimation of the Hydrodynamic Coefficients for the Deep-sea UUV "HEMIRE"

  • 백혁 (한국해양연구원 해양시스템안전연구소) ;
  • 김기훈 (한국해양연구원 해양시스템안전연구소) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소) ;
  • 이판묵 (한국해양연구원 해양시스템안전연구소) ;
  • 임용곤 (한국해양연구원 해양시스템안전연구소)
  • Baek, Hyuk (Ocean Engineering Research Department, KORDI/MOERI) ;
  • Kim, Ki-Hun (Ocean Engineering Research Department, KORDI/MOERI) ;
  • Jun, Bong-Huan (Ocean Engineering Research Department, KORDI/MOERI) ;
  • Lee, Pan-Mook (Ocean Engineering Research Department, KORDI/MOERI) ;
  • Lim, Yong-Kon (Ocean Engineering Research Department, KORDI/MOERI)
  • 발행 : 2008.08.28
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초록

This paper represents the experimental identification of a finite-dimensional dynamical plant model for the HEMIRE Remotely Operated Vehicle. The experiments were conducted during sea trials in the East Sea in October 2006 and peer testing by the South Sea Research Institute in January 2007. A least-squares method was employed to identify decoupled single degree-of-freedom plant dynamical models for the X, Y, Z and heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluated by directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.

키워드

참고문헌

  1. 이판묵, 이종무, 전봉환, 최현택, 이계홍, 김시문, 김덕진, 조성권, 박동원, 홍석원, 양승일, 임용곤, 한상철, 구법모, 이상열, 서영우 (2006). '심해탐사용 무인잠수정 해미래의 시스템 개요', 한국해양공학회, Vol 1, No 1, pp 1886-1891
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  6. Smallwood, D.A. and Whitcomb, L.L. (2003b). 'Preliminary Identification of a Dynamical Plant Model for the JASON 2 Underwater Robotic Vehicle', In Proceedings of IEEE/MTS OCEANS 2003, San Diego, CA